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针对机器人直行、转弯、机器臂升降、机器臂旋转、机器臂摆动、机器手抓紧与松开6个自由度,设计相应的机械传动系统,研制了一款矿用六自由度小型救援机器人。主要从机器人整体方案选择、动力源选用、底座结构设计、机械臂升降功能实现以及机器手伸抓与缩放等5个方面进行论述,最终完成整机的机械传动系统设计。设计了机器人的三维外观渲染图与样机,经测试样机各项性能参数均符合各项设计要求。
Aiming at the robot’s straight line, cornering, the arm’s rising and falling, the arm’s rotation, the arm’s swinging, the robot grasping and releasing six degrees of freedom, the corresponding mechanical transmission system was designed. A small six-freedom mine rescue robot was developed. Mainly from the robot overall program selection, selection of power source, the base structure design, the arm to achieve the lifting function and the robot grip and zoom in five aspects to discuss, and ultimately complete machine mechanical transmission system design. The three-dimensional rendering and prototype of the robot are designed. The performance parameters of the tested prototype are in accordance with the design requirements.